CFD-based Underwater Formation Analysis for Multiple Amphibious Spherical Robots

被引：0
|
作者：
Hou, Xihuan [1 ,2 ]
Guo, Shuxiang [1 ,2 ,3 ]
Shi, Liwei [1 ,2 ]
Xing, Huiming [1 ,2 ]
Liu, Yu [1 ,2 ]
Hu, Yao [1 ,2 ]
Xia, Debin [1 ,2 ]
Li, Zan [1 ,2 ]
机构：
[1] Beijing Inst Technol, Minist Ind & Informat Technol, Key Lab Convergence Med Engn Syst & Healthcare Te, 5 Zhongguancun South St, Beijing 100081, Peoples R China
[2] Beijing Inst Technol, Minist Educ, Key Lab Biomimet Robots & Syst, 5 Zhongguancun South St, Beijing 100081, Peoples R China
[3] Kagawa Univ, Fac Engn, 2217-20 Hayashi Cho, Takamatsu, Kagawa, Japan
来源：
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (ICMA) | 2019年
基金：
中国国家自然科学基金;
关键词：
Amphibious spherical robot; Underwater formation; Computational fluid dynamic (CFD);
D O I：
10.1109/icma.2019.8816373
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
As limited sensing and working capability of a single robot, multiple robots cooperative accomplishing complex tasks in formation has been a popular topic in recent years. Energy efficiency is the premise and guarantee for underwater robot to complete a wide range of task, especially for the small and bionic amphibious spherical robots with limited energy. This paper analyzed three formation shapes in the view of underwater hydrodynamic drag aiming at decreasing the energy consumption of a multiple robots system. Numerical simulation based on Computational Fluid Dynamic (CFD) is adopted to compute the drag of each individual robot and entire systems. Simulation results show that triangular formation shape can decrease the total drag. When the serial and parallel formation are needed, the longitudinal distance and transverse distance should be short as soon as possible.
引用
收藏
页码：1496 / 1501
页数：6
相关论文
共 50 条
  • [31] CFD-Based Simulation Analysis for Motions through Multiphase Environments
    Wang, Shuqi
    Fan, Jizhuang
    Liu, Yubin
    BIOMIMETICS, 2023, 8 (06)
  • [32] CFD-BASED NUMERICAL WAVE BASIN FOR GLOBAL PERFORMANCE ANALYSIS
    Wu, Guangyu
    Kim, Jang Whan
    Jang, Hyunchul
    Baguet, Aldric
    PROCEEDINGS OF THE ASME 35TH INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE AND ARCTIC ENGINEERING , 2016, VOL 1, 2016,
  • [33] Design and analysis of pumpjet propulsors using CFD-based optimization
    Gaggero, Stefano
    Martinelli, Mattia
    OCEAN ENGINEERING, 2023, 277
  • [34] IMPLEMENTATION OF A CFD-BASED AEROELASTIC ANALYSIS TOOLBOX FOR TURBOMACHINERY APPLICATIONS
    Romanelli, G.
    Mangani, L.
    Casartelli, E.
    PROCEEDINGS OF THE ASME TURBO EXPO: TURBINE TECHNICAL CONFERENCE AND EXPOSITION, 2014, VOL 2B, 2014,
  • [35] CFD-BASED THROUGHFLOW ANALYSIS OF TRANSONIC FLOWS IN STEAM TURBINES
    Ricci, Martina
    Pacciani, Roberto
    Marconcini, Michele
    Macelloni, Paolo
    Cecchi, Stefano
    Bettini, Claudio
    PROCEEDINGS OF THE ASME TURBO EXPO: TURBOMACHINERY TECHNICAL CONFERENCE AND EXPOSITION, 2019, VOL 2C, 2019,
  • [36] A system on chip-based real-time tracking system for amphibious spherical robots
    Guo, Shuxiang
    Pan, Shaowu
    Li, Xiaoqiong
    Shi, Liwei
    Zhang, Pengyi
    Guo, Ping
    He, Yanlin
    INTERNATIONAL JOURNAL OF ADVANCED ROBOTIC SYSTEMS, 2017, 14 (04): : 1 - 19
  • [37] Applicability and Validity of CFD-based Compartment Models for One to Multiple Operating Points
    Schwarz, Sebastian
    Gruenewald, Marcus
    CHEMIE INGENIEUR TECHNIK, 2024, 96 (06) : 734 - 740
  • [38] Communication between Spherical Underwater Robots Based on the Acoustic Communication Methods
    Li, Yaxin
    Guo, Shuxiang
    2016 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, 2016, : 403 - 408
  • [39] OFDM-based Micro-Signal Communication Method for the Spherical Amphibious Underwater Vehicle
    Li, Xin
    Guo, Jian
    Guo, Shuxiang
    2015 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION, 2015, : 2094 - 2099
  • [40] Lyapunov-Based Formation Control of Underwater Robots
    Khalaji, Ali Keymasi
    Zahedifar, Rasoul
    ROBOTICA, 2020, 38 (06) : 1105 - 1122
12345